[20998] Record data in SQL

[Tempate]

Code improvements:

• Make a Serializer to serialize and deserialize TopicQoS, TypeObjects, TypeIdentifiers, and DynamicTypes.
• Make a time_utils to convert between different time formats.
• Make the DdsRecorder and the DdsReplayer agnostic of the output format.
• Refactor McapLogErrorTest to improve its readability.

Configuration improvements:

• Move cleanup-period and max-pending-samples from specs to recorder.
• Move safety-margin to resource-limits.
• Configure safety-margin as a string (100MB, 128GiB, etc).

Bug fixes:

• Avoid creating a payload when replaying a message in a topic without a reader.
• Fix assert in ROS 2 topics.

Potential TODOs:

• Allow to record both MCAP and SQL at the same time.
• Separate data storage calls to dedicated thread

[LuciaEchevarria99]

This callback will be invoked during both MCAP and SQL recordings if disk is full. I believe it should have distinct implementations in McapWriter and SqlWriter. In the case of SQL, it is unnecessary to open a new file when the disk is full, as you can simply delete the beginning of the file.

[LuciaEchevarria99]

This deserialize should be included in the Serializator class